1# Goal
2# The identifier of the object to be grasped.
3string object_id
4
5# use one of the standard side identifiers (LEFT_SIDE, RIGHT_SIDE, DEFAULT_SIDE)
6# or use a custom string for implementation-specific end-effectors.
7# an empty string is equivalent to DEFAULT_SIDE (the actual default end-effector is implementation-specific)
8string LEFT_SIDE = "left"
9string RIGHT_SIDE = "right"
10string DEFAULT_SIDE = ""
11string side
12
13# the 'strategy' (optional, implementation-dependent) defines how the grasp implementation should perform the
14# grasp. For instance, the strategy could refer to a specific behaviour-tree definition (if the skill implementation
15# uses behaviour trees) or any other kind of 'recipe'.
16#
17# If not set, the skill should use its default/fallback strategy.
18string strategy
19
20---
21std_skills/Result result
22---
23std_skills/Feedback feedback